Finite-Level Quantized Consensus of Multi-agent Networked Systems

This paper is concerned with the analysis of consensus multi-agent networked system. Adopted in the analysis is the finite-level logarithmic quantizer, for the transmission of the networked-agents state. Two protocols are utilised in the analysed multi-agent networked system: the consensus protocol, which is determined from the outputs and states of a set of encoder-decoder pair that is employed in the system, and convergence rate protocol that is precisely characterized via the use of a dynamic scaling factor. With information exchange among neighbouring agents, the asymptotic consensus can be reached. The proof of protocols is based on proper selection of parameters of the logarithmic quantizer chosen for the connected network. As a demonstration of the validity of the protocols, a four-agent networked system is used. It is shown that an undirected network exchange of information via a communication channel that is equipped with a set of encoder and decoder can lead to attainment of estimates of neighbour state protocol for the networked system. Furthermore, desired asymptotic convergence can be reached through appropriate choice of parameters of the logarithmic quantizer.